Xiao SL, Li YM (2014) Visual servo feedback control of a novel large working range micro manipulation system for micro-assembly. Wu ZG, Chen M, He P et al (2020) Tracking control of PZT-driven compliant precision positioning micromanipulator.
#Scott russell mechanism full#
Wu ZG, Li YM, Hu M (2018) Design and optimization of full decoupled micro/nano-positioning stage based on mathematical calculation. Wu ZG, Chen M (2020) Design of flexure micro-gripper precision driven by piezoceramics. In: ASME international design engineering technical conferences and computers and information in engineering conference, IDETC/CIE 2015, pp V05AT08A016 Wu ZG, Li YM (2015) Design Of control strategy for a novel compliant flexure-based microgripper with two jaws. Wang F, Shi B, Huo Z, Tian Y, Zhang D (2021) Control and dynamic releasing method of a piezoelectric actuated microgripper.
Wang F, Liang C, Tian Y, Zhao X, Zhang D (2015) Design of a piezoelectric-actuated microgripper with a three-stage flexure-based amplification. Wang DH, Yang Q, Dong HM (2013) A monolithic compliant piezoelectric-driven microgripper: design, modeling, and testing. Tian Y, Shirinzadeh B, Zhang D, Alici G (2009) Development and dynamic modeling of a flexure-based Scott-Russell mechanism for nano-manipulation. Tang H, Li YM (2015) A new flexure-based y \(\theta\) nanomanipulator with nanometer scale positioning resolution and millimeter range workspace”. Su CY, Stepanenko Y, Svoboda J, Leung TP (2000) Robust adaptive control of a class of nonlinear systems with unknown backlash-like hysteresis. Son NN, Van Kien C, Anh HPH (2020) Parameters identification of Bouc–Wen hysteresis model for piezoelectric actuators using hybrid adaptive differential evolution and Jaya algorithm. Shen H, Iorio J, Li N (2019) Sliding mode control in backstepping framework for a class of nonlinear systems. Rehman FU, Mufti MR, Din SU et al (2020) Adaptive smooth super-twisting sliding mode control of nonlinear systems with unmatched uncertainty. Qin YD, Shirinzadeh B, Zhang DW, Tian YL (2013) Design and kinematics modeling of a novel 3-DOF monolithic manipulator featuring improved Scott-Russell mechanisms. Liang J, Zhang X, Zhu B (2019) Nonlinear topology optimization of parallel-grasping microgripper. Li YM, Wu ZG, Zhao X (2013) Optimal design and control strategy of a novel 2-DOF micromanipulator. IEEE Trans Control Syst Technol 18(4):798–810 Li YM, Xu Q (2010) Adaptive sliding mode control with perturbation estimation and PID sliding surface for motion tracking of a piezo-driven micromanipulator. Ha JL, Kung YS, Hu SC, Fung RF (2006) Optimal design of a micro-positioning Scott-Russell mechanism by Taguchi method. Grossard M, Boukallel M, Chaillet N, Rotinat-Libersa C (2010) Modeling and robust control strategy for a control-optimized piezoelectric microgripper. IEEE/ASME Trans Mechatron 18(3):895–904įoley BL, Bhan A (2020) Thermodynamically consistent forward and reverse degrees of rate control in reversible reactions. Ĭao Y, Cheng L, Chen XB, Peng JY (2013) An inversion-based model predictive control with an integral-of-error state variable for piezoelectric actuators. The test errors for two jaws are around 4% and the tracking errors are less than 2% for the selected controller.Īloisio A, De Angelo M, Alaggio R et al (2020) Dynamic identification of HTS maglev module for suspended vehicle by using a single-degree-of-freedom generalized Bouc–Wen hysteresis model.
The simulation and experimental results demonstrate that natural frequency of working direction is about 815.77 Hz, the amplification ratio in two axes is approximated to be 7.73. Meanwhile, for expressing the merit of proposed controller, backstepping sliding mode controller without adaptive control law and PID controller is also carried out. An adaptive backstepping sliding mode controller involving hysteresis compensator is applied for eradicating the hysteresis influence. The hysteresis inverse compensator via Bouc–Wen model is applied to describe the micro-gripper system and their parameters are also identified via least square optimization method. The kinematic and dynamic models are established through pseudo-rigid-body method and Lagrange’s method, which are verified by finite element modeling. A symmetrical micro-gripper structure is designed via the Scott-Russell mechanism.
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